Proposal of walking method to avoid falling down using vibration on loose ground with slope

Tomohiro Watanabe, Kojiro Iizuka

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, walking method using vibration for leg typed rover is proposed to avoid falling down. Proposed method increases the tumble stability margin using vibration to improve stability during slope walking. In previous study, we confirmed that sinkage of the leg to the ground is increased when giving vibration. In the proposed method, posture of the leg typed rover is maintained to be stability using this feature. Experiments using a testbed was carried out. Moreover, we could get knowledge that the method using vibration was effective to avoid falling down the rover.

Original languageEnglish
Title of host publicationRobots in Human Life- Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020
EditorsValery G. Gradetsky, Nikolay N. Bolotnik, Mohammad Osman Tokhi, Manuel Silva, Gurvinder S. Virk
PublisherCLAWAR Association Ltd
Pages239-246
Number of pages8
ISBN (Print)9781916449046
DOIs
Publication statusPublished - 2020
Event23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020 - Moscow, Russian Federation
Duration: 2020 Aug 242020 Aug 26

Publication series

NameRobots in Human Life- Proceedings of the 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020

Conference

Conference23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2020
CountryRussian Federation
CityMoscow
Period20/8/2420/8/26

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction

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